JP6042078B2 - Crane apparatus and crane apparatus control method - Google Patents

Description

  The present invention relates to a drive device having an inverter and a motor, a crane equipped with the drive device, and a control method for the drive device.

  In steelworks, a ladle crane is used as a crane for moving molten steel, molten iron, etc. in a pan. Such a ladle crane is provided with a main winding device for hanging a pan and an auxiliary winding device for tilting the pan. Conventionally, thyristor control and reactor control have been used for drive control of main and auxiliary winding devices in a ladle crane, but in recent years it has become highly versatile due to difficulties in equipment arrangements and price increases. More inexpensive inverter control is being adopted.

  When a ladle crane driven by a drive device controlled by an inverter is stopped due to a failure of the drive device's inverter or motor, not only the steelworks line is stopped, but also other equipment is damaged due to the effect of heat on the crane body. A device for preventing this is required. Therefore, there is a need for backup means that allows the ladle crane to be operated continuously even when a failure occurs.

  For example, Patent Document 1 discloses a technique for replacing a failed inverter with a spare inverter. Further, in Patent Document 2, when the inverter of the main winding device fails, it is replaced with the inverter of the auxiliary winding device, and when the inverter of the auxiliary winding device fails, it is replaced with the inverter of the main winding device. The technique of substituting is disclosed.

JP 2005-132534 A JP 2001-163579 A

  However, in the technique such as Patent Document 1, it is necessary to provide a spare inverter. In the technique such as Patent Document 2, the main winding device and the auxiliary winding device cannot be operated simultaneously when a failure occurs. was there. In particular, when considering the installation of standby systems and system disconnection for backup purposes, the increase in the number of devices and the increase in power capacity becomes a problem, and the increase in the number of devices and the increase in power capacity is a problem of its own. In addition to cost, there was a risk of further equipment change due to an increase in the total weight of equipment and installation space.

  The present invention has been made in order to solve the above-described problems. A drive device, a crane, and a drive device that can output even if an inverter or a motor breaks down while minimizing the number and capacity of devices. A control method is provided.

In order to solve the above problems, the present invention proposes the following means.
A crane device according to one aspect of the present invention is provided with a plurality of motors for driving a hoisting device, and one to one of each of the motors, and is different from a pair of motors among the plurality of motors. A plurality of inverters that are connected to other motors or connected via a switching unit that can switch connections, and that operate the motors connected to be in an operation state corresponding to a plurality of input parameters, and the inverters Being operational, ready for operation
Or a state detection unit that detects the state of the inverter indicating that the inverter is inoperable, and a control unit that controls the inverter. The control unit includes a detection result of the state detection unit. Based on the number of operable inverters detected by the operation detecting unit, the operation detecting unit that detects the inverter that can operate based on the parameters used for continuing the operation at the rated speed of the hoisting device determined, includes a parameter determining unit for outputting the running possible the inverter, a case where the operation detecting unit detects the inverter of inoperative, the control unit, said forming the working non the inverter pair The switching unit is switched so that the motor is connected to another inverter via the switching unit, and the parameter determining unit includes the inoperable inverter. As its output than the output in the steady operation state is had state is increased, and wherein the operating the said other inverter.

In the crane apparatus, the inverter has a capacity capable of driving a plurality of the motors.

In the crane apparatus, the parameter determination unit further compensates for an output shortage due to the inoperable inverter or a shortage of output due to the inverter paired with the inoperable motor by an output of the operable inverter. The parameter is determined as follows.

According to still another aspect of the present invention, a crane apparatus control method includes a plurality of motors for driving a hoisting apparatus, a motor that is provided on a one-to-one basis with each of the motors, and that forms a pair of the plurality of motors. A plurality of inverters that are connected to one other motor different from the above and that are connected via a switching unit that can switch the connection and operate the motor connected so as to be in an operation state corresponding to a plurality of input parameters And that the inverter is in operation,
A crane apparatus control method comprising: a state detection unit that detects a state of the inverter indicating that it is in an operable standby state or an inoperable state; and a control unit that controls the inverter. And an operation detecting step for detecting the operable inverter based on the detection result of the state detecting unit by the control unit, and the number of operable inverters detected by the control unit in the operation detecting step. A parameter determining step for determining the parameter used to continue the operation at the rated speed of the hoisting device based on the parameter, and outputting the parameter to the operable inverter, and the operation detecting unit detecting the inoperable inverter The control unit connects the motor paired with the inoperable inverter to another inverter through the switching unit. Switching the switching unit so that, in the parameter determination step, the output is higher than the output in a steady operation state in which the inoperable inverter is not present. It is characterized by operating an inverter.

  According to the drive device and the control method of the drive device of the present invention, the backup operation based on the number of inverters and motors that can be operated can be performed even if the inverter or the motor breaks down while minimizing the number and capacity of devices. It becomes possible. Moreover, the crane of this invention is equipped with the said drive device, Therefore Operation | movement can be continued even if an inverter or a motor fails.

It is the schematic which shows the structure of the ladle crane which concerns on this invention. It is a figure which shows the structure of the drive device by 1st Embodiment of this invention. It is a figure which shows the emergency operation state of the drive device by 1st Embodiment of this invention. It is a figure which shows the structure of the drive device by 2nd Embodiment of this invention. It is a figure which shows the steady operation state of the drive device by 2nd Embodiment of this invention. It is a figure which shows the emergency operation state of the drive device by 2nd Embodiment of this invention. It is a figure which shows the emergency operation state of the drive device by 2nd Embodiment of this invention. It is a figure which shows the steady operation state of the drive device by 3rd Embodiment of this invention. It is a figure which shows the emergency operation state of the drive device by 3rd Embodiment of this invention. It is a figure which shows the emergency operation state of the drive device by 3rd Embodiment of this invention.

Embodiments according to the present invention will be described below with reference to FIGS.
FIG. 1 schematically shows the structure of a ladle crane according to the present invention. 1A is a view of the ladle crane as viewed from above, and FIG. 1B is a view of the ladle crane as viewed from the side. The ladle crane 100 includes a garter 111 that travels on a traveling rail 110, a main trolley 121 that traverses on a main traverse rail 120 provided on the garter 111, and a supplement that traverses on an auxiliary traverse rail 130 provided on the garter 111. It consists of a trolley 131. The main trolley 121 includes a main winding device 122 for hanging the pan. The auxiliary trolley 131 includes an auxiliary winding device 132 for tilting the pan. The driving device used as the main winding device 122 and the auxiliary winding device 132 of the ladle crane 100 will be described in more detail below.

  FIG. 2 shows a configuration of the driving apparatus 200 according to the first embodiment of the present invention. The driving device 200 shown in FIG. 2 is provided in each of the main winding device 122 and the auxiliary winding device 132. The driving device 200 includes a converter 210, first to fourth inverters 221, 222, 223, 224, and first to fourth inverters 221, 222, 223, 224, and first to fourth motors provided one-on-one. 231, 232, 233, 234. That is, the drive device 200 has four systems including an inverter and a motor provided one-on-one with the inverter. 2 includes only one converter 210, but there may be a plurality of converters, or each system may be considered in consideration of convenience when disconnecting a system in which a failure has occurred. One converter may be provided at a time. The first to fourth inverters 221, 222, 223, and 224 have a function of driving the paired first to fourth motors 231, 232, 233, and 234, respectively, in an operation state corresponding to the set parameter. In particular, in the embodiment according to the present invention, the first to fourth inverters 221, 222, 223, and 224 are paired with the first to fourth motors 231 and 232 that make a pair in a plurality of operating states respectively corresponding to a plurality of parameters. , 233, 234 are respectively driven.

  Here, in the first embodiment, each of the inverters 221, 222, 223, and 224 has a total capacity of 1 for each of the four inverters in order to obtain a predetermined drive device output. / 4 rated capacity (at 100% operation), each motor 231, 232, 233, 234 has a capacity required for all four motors to be 1 in order to obtain a predetermined drive device output , Each has a rated capacity of 1/4 of the whole.

  Further, the driving device 200 includes first to fourth state detectors 241 and 241 that detect states of the first to fourth inverters 221, 222, 223, and 224 and the first to fourth motors 231, 232, 233, and 234, respectively. 242, 243, 244 and a control unit 250 that controls each of the inverters 221, 222, 223, 224. The first to fourth state detection units 241, 242, 243, and 244 may be a monitoring function provided in the inverter itself, a thermal relay provided individually in the motor, or a dedicated sensor. Good. Specifically, the first state detection unit 241 receives the information from the monitoring function of the first inverter 221 and the information from the thermal relay provided in the first motor 231, whereby the first inverter 221 and the first inverter 221. The control unit 250 detects the current state of the motor 231, that is, the operating state, the standby state in which the motor 231 is operable, or the inoperable state due to a failure or the like. Configured to output. The same applies to the second to fourth state detectors 242, 243, and 244. The controller 250 is, for example, a PLC (programmable logic controller). The control unit 250 includes an operation detection unit 260 that detects an operable inverter and a motor based on detection results of the state detection units 241, 242, 243, and 244, and an operable inverter detected by the operation detection unit 260 and A parameter determining unit 270 that determines parameters to be set based on the number of motors and outputs the determined parameters to the inverters 221, 222, 223, and 224 is provided.

  Further, the driving device 200 has an operation time, temperature, and current for at least one of the first to fourth inverters 221, 222, 223, 224 and the first to fourth motors 231, 232, 233, 234. First to fourth monitoring units 281, 282, 283, and 284 may be provided for monitoring at least one of them. Each of the monitoring units 281, 282, 283, and 284 may be a monitoring function provided in the inverter itself, or may be a dedicated timer, a temperature sensor, an ammeter, or the like. Specifically, the monitoring unit 281 monitors at least one of the operating time, temperature, and current of at least one of the first inverter 221 and the first motor 231 and the value is a predetermined value. Is configured to output to the control unit 250. The same applies to the second to fourth monitoring units 282, 283, and 284.

  In the drive device 200 having such a configuration, an operation when an actual failure occurs will be described. FIG. 3 shows an emergency operation state (backup state) of the drive device 200 according to the first embodiment of the present invention. Note that in FIG. 3, only the inverter and the motor are shown for the sake of simplicity, and other components are omitted.

  As indicated by a cross in FIG. 3, when the first inverter 221 fails (or when the first motor 231 fails), the state detection unit 241 causes the first inverter 221 (or the first operation that cannot be performed) to be performed. The motor 231) is detected. Next, the control unit 250 disconnects the system including the inoperable first inverter 221 (or the first motor 231) detected by the state detection unit 241 by a disconnecting unit (not shown) such as an electromagnetic contactor.

  Next, the operation detection unit 260 detects the number of inverters and motors that can be operated based on the detection results of the state detection units 241, 242, 243, and 244. That is, the operation detection unit 260 detects that the second to fourth inverters 222, 223, and 224 and the second to fourth motors 232, 233, and 234 are operable. Next, the parameter determination unit 270 determines parameters to be set in each of the inverters 221, 222, 223, and 224 based on the detection result of the operation detection unit 260.

  At this time, the parameter determination unit 270 causes the second to fourth inverters 222, 223, and 224 and the second to fourth motors 232, 233, and 234 that are operable to have an output of 133% with respect to the rated capacity. By operating in the load region, that is, by increasing its output from 1/4 to 1/3 (= 1/4 × 1.33), the parameters are determined so that the operation at the rated speed can be continued. . However, when the inverter and the motor are operated in the overload region in this way, the operation time is usually limited due to heat generation. Therefore, the second to fourth inverters 222, 223, 224 and the second to fourth inverters are provided by the corresponding second to fourth monitoring units 282, 283, and 284 so that the overload operation is performed within the specification range of the inverter and the motor. For at least one of the four motors 232, 233, and 234, at least one of its operating time, temperature, and current is monitored, and when that value reaches a predetermined value, Terminate operation, thereby preventing equipment damage.

  As a modified example, the parameter determination unit 270 switches the second to fourth motors 232, 233, and 234 from the rated speed operation to the decelerating operation and operates them (reducing the speed and maintaining the necessary torque). May be determined. In other words, the driving device 200 according to the present modified example is configured to drive each motor 231, 232, 233, 234 at a double speed with respect to driving during emergency operation, assuming at least one system failure during steady operation. Composed.

  Next, the parameter determination unit 270 outputs the determined parameters to the second to fourth inverters 222, 223, and 224 that can be operated. The second to fourth inverters 222, 223, and 224 operate the paired second to fourth motors 232, 233, and 234, respectively, so that the operation state corresponding to the received parameter is obtained.

  In this way, the driving device 200 according to the first embodiment of the present invention can continue to operate in the remaining three systems even when one system becomes inoperable due to a failure of the inverter or the motor.

  Next, a second embodiment of the present invention will be described. FIG. 4 shows the configuration of the driving device 201 according to the second embodiment of the present invention. The configuration shown in FIG. 4 is substantially equal to the configuration of the driving apparatus 200 according to the first embodiment shown in FIG. 2, and the same components are denoted by the same reference numerals. In FIG. 4, only the first state detection unit 241 and the first monitoring unit 281 are shown for simplification, but the first to fourth states are similar to the configuration shown in FIG. 2. It should be noted that the detection units 241, 242, 243, and 244 and the first to fourth monitoring units 281, 282, 283, and 284 exist. 4 further includes first to eighth switching units 291, 292, 293, 294, 295, 296, 297, and 298. The driving device 201 illustrated in FIG.

In the second embodiment, each of the motors 231, 232, 233, and 234 is a two-winding motor, and one of the windings is connected to a pair of inverters, and the other is operated by the operation of the switching unit. It is selectively connected to a pair of inverters or other inverters. Specifically, the first inverter 221 is directly connected to the first winding of the paired first motor 231 and is connected to the second winding of the paired first motor 231 via the first switching unit 291. Or connected to the second winding of the second motor 232 via the second switching unit 292. The same applies to the second to fourth inverters 222, 223, and 224. Each switching unit 291, 292, 293, 294, 295, 296, 297, 298 may be any connection switching means, for example, an electromagnetic contactor.
The operation of the drive device 201 including the connection switching by the first to eighth switching units 291, 292, 293, 294, 295, 296, 297, and 298 will be described below.

  FIG. 5 shows a steady operation state of the drive device 201 according to the second embodiment of the present invention. Note that in FIG. 5 and subsequent FIGS. 6 and 7, only the inverter, the motor, and the switching unit are shown for the sake of simplicity, and other components are omitted. In the second embodiment, each of the inverters 221, 222, 223, and 224 has a rated capacity of 1/4 when the capacity required for the entire four inverters to obtain a predetermined drive device output is 1. Each motor 231, 232, 233, 234 has a rated capacity of 1/3, assuming that the capacity required for all four motors to obtain a predetermined drive device output is 1. In other words, in the second embodiment, each of the motors 231, 232, 233, and 234 has a surplus capacity so that a necessary output can be obtained only by operating three of them.

In the steady operation state of FIG. 5, the inverters 221, 222, 223, and 224 are connected only to the motors 231, 232, 233, and 234 that make a pair. In the figure, the connection state is indicated by a bold line. Specifically, the first inverter 221 is directly connected to the first motor 231 and is connected to the same first motor 231 via the switching unit 291 . The same applies to the second to fourth inverters 222, 223, and 224. In such a steady operation state, the motors 231, 232, 233, and 234 operate at 75% output, that is, motors having a capacity of 1/4 (= 1/3 × 0.75). It is controlled to operate with the same output as.

  6 and 7 show an emergency operation state of the drive device 201 according to the second embodiment of the present invention. In the following description, portions overlapping with the description of the emergency operation state of the drive device 200 shown in FIG. 3 are omitted.

  FIG. 6 shows an emergency operation state when the first inverter 221 fails. In this case, as in the first embodiment, the system including the inoperable first inverter 221 is disconnected, and the operation is continued in the remaining three systems.

FIG. 7 shows an emergency operation state when the first motor 231 fails. In this case, the drive device 201 transfers the output of the inverter paired with the inoperable motor to another motor. Specifically, the control unit 250 switches the first switching unit 291 to the shut-off state based on the detection result of the first state detection unit 241, and switches between the operable first inverter 221 and the inoperable first motor 231. And the second switching unit 292 is switched to the connected state to validate the connection between the operable first inverter 221 and the operable second motor 232. Therefore, the second motor 232 operates by receiving the output of two units of the first inverter 221 and the second inverter 222.

  At this time, the parameter determination unit 270 outputs 100% of the second to fourth motors 232, 233, and 234 based on the detection result of the operation detection unit 260 (one third of the required drive device output 1). Determine the parameters to be driven by the output. More specifically, the parameter determination unit 270 outputs the first and second inverters 221 and 222 with 66% output (the output of 1/4 × 0.66 = 1/6 with respect to the required drive device output 1, respectively) And the third and fourth inverters 223, 224 are 133% overload region (1 × 1 × 1.33 = 1 / respectively for the required drive device output 1). Parameter is set so as to be operated at 3 outputs) and output to each of the inverters 221, 222, 223, and 224. When the operation in such an overload region is executed, the operation time is limited based on the monitoring by the first to fourth monitoring units 281, 282, 283, and 284, as in the first embodiment. It's okay.

  As described above, the drive device 201 according to the second embodiment of the present invention can continue to operate in three systems in the same way as in the first embodiment when the inverter fails, and uses the surplus capacity of the motor when the motor fails. Thus, the operation can be continued without operating the motor in the overload region.

  Next, a third embodiment of the present invention will be described. The configuration of the driving device according to the third embodiment of the present invention is equal to the configuration of the driving device 201 according to the second embodiment shown in FIG. That is, the driving device 201 according to the third embodiment also includes first to eighth switching units 291, 292, 293, 294, 295, 296, 297, 298, and motors 231, 232, 233, Reference numeral 234 denotes a two-winding motor.

  FIG. 8 shows a steady operation state of the drive device 201 according to the third embodiment of the present invention. It should be noted that in FIG. 8 and subsequent FIGS. 9 and 10, only the inverter, the motor, and the switching unit are shown for the sake of simplicity, and other components are omitted. In the third embodiment, each of the inverters 221, 222, 223, and 224 has a rated capacity of ½ when the capacity required for the entire four inverters to obtain a predetermined drive device output is 1. Each motor 231, 232, 233, and 234 has a rated capacity of ¼ when the capacity required for all four motors to obtain a predetermined drive device output is 1. In other words, in the third embodiment, each of the inverters 221, 222, 223, and 224 has a surplus capacity capable of driving two motors.

  Similarly to the second embodiment, in the steady operation state of FIG. 8, each of the inverters 221, 222, 223, and 224 is connected only to the paired motors 231, 232, 233, and 234. In such a steady operation state, each of the inverters 221, 222, 223, 224 is operated with 50% output, that is, an inverter having a capacity of 1/4 (= 1/2 × 0.5). It is controlled to perform output equivalent to.

  9 and 10 show an emergency operation state of the drive device 201 according to the third embodiment of the present invention. In the following description, portions overlapping with the description of the emergency operation state of the drive device 200 shown in FIG. 3 are omitted.

FIG. 9 shows an emergency operation state when the first inverter 221 fails. In this case, the drive device 201 switches the motor paired with the inoperable inverter to another inverter. Specifically, the control unit 250 switches the first switching unit 291 to the shut-off state based on the detection result of the first state detection unit 241, and the first inverter 221 that cannot be operated and the first motor 231 that can be operated. The fourth switching unit 294 is switched to the connected state, and the connection between the operable second inverter 222 and the operable first motor 231 is validated. Therefore, the second inverter 222 drives two units, the first motor 231 and the second motor 232.

  At this time, the parameter determination unit 270 outputs 100% of the motors 231, 232, 233, and 234 based on the detection result of the operation detection unit 260 (an output of 1/4 each of the required drive device output 1). The parameters are determined so that the system can be operated at. Specifically, the parameter determination unit 270 operates the second inverter 222 with 100% output (1/2 output with respect to the required drive device output 1), and the third and fourth inverters 223 and 224. Are set to operate at a 50% output (1/2 × 0.5 = 1/4 of the required drive device output 1), and the second to fourth inverters 222, 223 and 224.

  FIG. 10 shows an emergency operation state when the first motor 231 fails. In this case, as in the first embodiment, the system including the inoperable first motor 231 is disconnected, and the operation is continued in the remaining three systems.

  In this way, the driving device 201 according to the third embodiment of the present invention can continue operation by operating two motors with one inverter when the inverter fails, and the first implementation when the motor fails. The operation can be continued with three systems in the same manner as the embodiment.

  As mentioned above, although embodiment of this invention was explained in full detail with reference to drawings, the concrete structure is not limited to these embodiment, The design change etc. of the range which does not deviate from the summary of this invention are included. . For example, in the embodiment described above, four systems of drive devices are targeted, but the present invention is naturally applicable to a drive device having any number of systems of two or more. Moreover, although the case where only one inverter or a motor failed was assumed, of course, this invention is the case where one or more inverters fail, the case where one or more motors fail, or one or more units. The inverter can be expanded so that it can cope with any failure of one or more motors.

DESCRIPTION OF SYMBOLS 100 Ladle crane 110 Traveling rail 111 Garter 120 Main transverse rail 121 Main trolley 122 Main winding device 130 Supplementary transverse rail 131 Supplement trolley 132 Supplementary winding device 200, 201 Drive device 210 Converter 221 1st inverter 222 2nd inverter 223 3rd inverter 224 4th inverter 231 1st motor 232 2nd motor 233 3rd motor 234 4th motor 241 1st state detection part 242 2nd state detection part 243 3rd state detection part 244 4th state detection part 250 control part 260 operation detection part 270 Parameter determination unit 281 1st monitoring unit 282 2nd monitoring unit 283 3rd monitoring unit 284 4th monitoring unit 291 1st switching unit 292 2nd switching unit 293 3rd switching unit 294 4th switching unit 295 5th switching unit 296 Sixth switching unit 29 The seventh switching unit 298 the eighth switching unit

Claims (4)

A plurality of motors for driving the hoisting device;
A plurality of motors that are connected to and input via a switching unit that can be connected to or switched from one of the plurality of motors that is different from the pair of motors and that is connected to each other. A plurality of inverters that operate the motors connected to be in an operation state corresponding to the parameters of
The inverter is in an operating state, in an operable standby state, or inoperable
A state detection unit for detecting the state of the inverter indicating that the
A control unit for controlling the inverter,
The controller is
An operation detection unit that detects the inverter that is operable based on a detection result of the state detection unit;
Based on the number of operable inverters detected by the operation detection unit, a parameter determination unit that determines the parameter used for continuing operation at the rated speed of the hoisting device and outputs the parameter to the operable inverter; Have
When the operation detection unit detects the inoperable inverter,
The control unit switches the switching unit so as to connect the motor paired with the inoperable inverter to another inverter via the switching unit,
The said parameter determination part operates said other inverter so that the output may become higher than the output in the steady operation state in which the said inverter which cannot be operated does not exist. The crane apparatus characterized by the above-mentioned. The crane apparatus according to claim 1, wherein the inverter has a capacity capable of driving a plurality of the motors. The parameter determination unit further determines the parameter so as to compensate for an output shortage due to the inverter that cannot be operated or an output shortage due to the inverter that is paired with the motor that cannot be operated with the output of the operable inverter. The crane apparatus of Claim 1 or 2 characterized by the above-mentioned. A plurality of motors for driving the hoisting device;
A plurality of motors that are connected to and input via a switching unit that can be connected to or switched from one of the plurality of motors that is different from the pair of motors and that is connected to each other. A plurality of inverters that operate the motors connected to be in an operation state corresponding to the parameters of
The inverter is in an operating state, in an operable standby state, or inoperable
A state detection unit for detecting the state of the inverter indicating that the
A control unit for controlling the inverter, and a control method of a crane device comprising:
An operation detection step of detecting the inverter operable by the control unit based on a detection result of the state detection unit;
Based on the number of operable inverters detected in the operation detection step, the control unit determines the parameters used for continuing operation at the rated speed of the hoisting device,
A parameter determination step of outputting the operation can be said inverter,
When the operation detection unit detects the inoperable inverter,
Switching the switching unit to connect the motor paired with the inoperable inverter by the control unit to another inverter via the switching unit, and
In the parameter determination step, the other inverter is operated so that the output becomes higher than the output in a steady operation state in which the inoperable inverter does not exist.

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